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This paper suggests the study for the process of planning and capturing the optimal trajectory by the mobile robot in order to efficiently capture mobile sound sources. The sound sources are released and moved by using the mobile robot. The mobile robot is equipped with a microphone array, which makes it possible to obtain the location and direction of the mobile sound sources. For the capturing process,...
In this paper, a wheel/track mobil platform for robot search and rescue such dangerous tasks is designed. Through the wheel/track transform mechanism, the wheel and track motion modes can be switched alternatively to adapt to different ground situations. The friction between the belt wheel and hub is used to drive the track and its guide wheel is the one of the transform mechanism. When the guide...
This paper presents an intelligent fuzzy motion controller for three-wheeled omnidirectional mobile robots to achieve trajectory tracking and stabilization. The controller parameters of motion controller are on-line tuned using the fuzzy theory. These optimized parameters are employed in the intelligent motion controller to obtain optimal performance for three-wheeled omnidirectional mobile robots...
Human-robot interaction is an important issue for service robots. In this paper, we propose to utilize the multisensory data fusion to autonomously detect and track an accompanist as a target person in the surroundings of the mobile robot. First, we use laser range finder to detect the target person features which is characterized using distances and orientations from range sensor readings. Based...
This paper reports experimental and analytical results of a Hybrid Mechanism Mobile Robot (HMMR) designed for field and military applications. The HMMR presented in this paper constitutes the second generation of a mobile robot that combines locomotion with manipulation in a symmetric invertible platform. The experimental results highlight the ability of the robot to operate in an unstructured environment...
To access to the terrains that may be soft and hard, even and uneven, a novel robot (NEZA-I) with the self-adaptive mobile mechanism has been developed. Its mobile mechanism consists of two symmetric transformable wheel-track (TWT) units. Each TWT unit is driven by only one servo motor, and can efficiently move over rough terrains by changing the locomotion mode or by transforming the track configuration...
The mobile robots often perform the dangerous missions such as planetary exploration, reconnaissance, anti-terrorism, rescue, and so on. So it is required that the robots should be able to move in the complex and unpredictable environment where the ground might be soft and hard, even and uneven. To access to such terrains, a novel robot (NEZA-I) with the self-adaptive mobile mechanism is proposed...
In this paper, we investigate the enhanced ability of manipulation with the newly developed Personal Mobility and Manipulation Appliance (PerMMA). PerMMA is a new assistive device that integrates bimanual manipulation with smart mobility to assist people with severe physical disabilities and enhance their quality of lives. Different from the fixed mounting method used in most existing systems, a novel...
Nowadays mobile robots have numerous applications; they help us to avoid situations and environments that involve risks to humans. To undertake the work, certain characteristics such as type of robot locomotion, energy consumption, engines etc, should be considered. The article deals with the design, construction and instrumentation of a prototype mobile robot.
Performing the dangerous mission such as planetary exploration, reconnaissance, anti-terrorism, and rescue, the mobile robot should be capable of moving in the complex and unpredictable environment where the ground may be soft and hard, even and uneven. To access to such terrain features, a novel robot with the self-adaptive mobile mechanism, named as Amoeba-III, has been proposed and developed. It...
This paper presents a new mobile welding robot system which based on rotating arc sensor as the seam tracking sensor. The system includes wheeled mobile body, two-dimensional motion platform, rotating arc sensor and ultrasonic sensor which uses as obstacle avoidance sensor. Two stage of tracking strategy is used in the system, that is the robot body rough tracking and the two-dimensional motion platform...
This paper studies the tracking control problem of mobile manipulators based on state observer. The proposed tracking controller ensures that the full state of the system can asymptotically track the given desired trajectory globally in the presence of the system coupling. Extensive simulations presented in the paper show the effectiveness of the proposed approach.
This paper analyzes track-terrain and vehicle-manipulator interactions and develops posture optimization algorithms for a reconfigurable tracked mobile modular manipulator negotiating slopes. A tracked mobile robot is associated with unavoidable slippage due to the fact that there are infinite number of contact points between the tracks and the terrain. Furthermore, the reconfiguration of the tracked...
This paper presents the tracking control problem of a mobile manipulator system to maintain maximum manipulability and including the obstacle avoidance. The design of the controller is based on two cascaded subsystems: a minimum norm kinematic controller with command saturation, and a controller that compensates for the dynamics of the mobile manipulator system. Robot commands are defined in terms...
As for military reconnaissance, disaster relief applications such as stairs, stair type of obstacle, the paper propose the use of chain -type self-reconfigurable robots, overally plan the function modules of the robot, finish the design and making of the robot's mechanical system and control system and the corresponding performance testing. The test results show that the design is scientific and reasonable...
In this paper we introduce our novel concept of sycophant wireless sensors (SWS) which is a static ecto-parasitic clandestine sensor network mounted incognito on a mobile agent using only the agent's mobility without intervention. SWS networks not only communicate with each other through mobile WSN but also cooperate with them to form a global hybrid wireless sensor network (WSN). Our work develops...
Mobile tracking robot will play an important role in our future life. Target recognition, distance estimation and motion estimation are three primary functions of this kind of robot, respectively. Consequently, the irrelevant three technologies, pattern recognition, binocular vision and fast block-matching algorithm, make up of a novel approach of computer vision navigation for mobile tracking robot...
This paper presents the investigation on mobile manipulation of a self-reconfigurable tracked mobile robot, using its tracks for both manipulation and locomotion. It is desirable for a mobile robot to possess manipulation capability in unstructured environments, especially in the scenario which is unsuitable for human beings. However, it is not convenient for such a mobile robot to carry an onboard...
Traditional industrial robots have been widely used in automotive manufacturing for nearly 30 years. However, there have been very few attempts to automate mobile robotic systems for final assembly operations, despite their potential for high flexibility and capability. This paper focuses on methods of tracking a dynamic moving vehicle that is similar to the vehicle body on a moving assembly line...
Based on the study of developments in many fields of computer vision, a new approach of computer vision navigation for mobile tracking robot is presented in this paper. The main steps of this approach include object recognition, distance estimation and motion capture. Although these technologies adopted seem to be irrelevant, the combination of them is effective. Interesting observations on distance...
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